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   &#160;<span id="projectnumber">2.9.1</span>
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<div class="title">ArRobotConnector Class Reference<div class="ingroups"><a class="el" href="group__ImportantClasses.html">Important Classes</a> &#124; <a class="el" href="group__DeviceClasses.html">Device Interface Classes</a></div></div>  </div>
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<p>Connect to robot or simulator based on program command line parameters.  
 <a href="classArRobotConnector.html#details">More...</a></p>

<p><code>#include &lt;ArRobotConnector.h&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac80fdece67e0995376dc37c2ceb85311"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#ac80fdece67e0995376dc37c2ceb85311">ArRobotConnector</a> (<a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *parser, <a class="el" href="classArRobot.html">ArRobot</a> *robot, bool autoParseArgs=true, bool connectAllComponents=true)</td></tr>
<tr class="memdesc:ac80fdece67e0995376dc37c2ceb85311"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor that takes argument parser.  <a href="#ac80fdece67e0995376dc37c2ceb85311">More...</a><br /></td></tr>
<tr class="separator:ac80fdece67e0995376dc37c2ceb85311"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab192ac393d9cc1e5b61b1a82b08d085d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a> (void)</td></tr>
<tr class="memdesc:ab192ac393d9cc1e5b61b1a82b08d085d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets up the robot then connects it.  <a href="#ab192ac393d9cc1e5b61b1a82b08d085d">More...</a><br /></td></tr>
<tr class="separator:ab192ac393d9cc1e5b61b1a82b08d085d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9306889690c41b8342f29b2ab567d25"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#ad9306889690c41b8342f29b2ab567d25">connectRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:ad9306889690c41b8342f29b2ab567d25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets up the robot then connects it.  <a href="#ad9306889690c41b8342f29b2ab567d25">More...</a><br /></td></tr>
<tr class="separator:ad9306889690c41b8342f29b2ab567d25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8b0be97cfabe32c64b6b82ee7000089"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#af8b0be97cfabe32c64b6b82ee7000089">disconnectAll</a> ()</td></tr>
<tr class="memdesc:af8b0be97cfabe32c64b6b82ee7000089"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disconnect from any robot components connected to.  <a href="#af8b0be97cfabe32c64b6b82ee7000089">More...</a><br /></td></tr>
<tr class="separator:af8b0be97cfabe32c64b6b82ee7000089"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a378cbbc4d0d1a4f68257078834cfde53"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a378cbbc4d0d1a4f68257078834cfde53"></a>
const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a378cbbc4d0d1a4f68257078834cfde53">getRemoteHost</a> (void) const </td></tr>
<tr class="memdesc:a378cbbc4d0d1a4f68257078834cfde53"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the remote host, if one was used, or NULL if it wasn't. <br /></td></tr>
<tr class="separator:a378cbbc4d0d1a4f68257078834cfde53"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac42b231ec0f05f564db4a2dfec8bd472"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac42b231ec0f05f564db4a2dfec8bd472"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#ac42b231ec0f05f564db4a2dfec8bd472">getRemoteIsSim</a> (void) const </td></tr>
<tr class="memdesc:ac42b231ec0f05f564db4a2dfec8bd472"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if the remote connection is a sim. <br /></td></tr>
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<tr class="memitem:a91edd72fd32f374b6394c0b8c44cc7e3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a91edd72fd32f374b6394c0b8c44cc7e3"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a91edd72fd32f374b6394c0b8c44cc7e3">getRobot</a> (void)</td></tr>
<tr class="memdesc:a91edd72fd32f374b6394c0b8c44cc7e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the robot this connector is using (mostly for backwards compatibility stuff) <br /></td></tr>
<tr class="separator:a91edd72fd32f374b6394c0b8c44cc7e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aacf5d8abbfd85abdfce4ca7bc0715b98"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#aacf5d8abbfd85abdfce4ca7bc0715b98">logOptions</a> (void) const </td></tr>
<tr class="memdesc:aacf5d8abbfd85abdfce4ca7bc0715b98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Log the options the simple connector has.  <a href="#aacf5d8abbfd85abdfce4ca7bc0715b98">More...</a><br /></td></tr>
<tr class="separator:aacf5d8abbfd85abdfce4ca7bc0715b98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a88041e3840d115f8e6e36c7c6e55e253"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a88041e3840d115f8e6e36c7c6e55e253">parseArgs</a> (void)</td></tr>
<tr class="memdesc:a88041e3840d115f8e6e36c7c6e55e253"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function to parse the arguments given in the constructor.  <a href="#a88041e3840d115f8e6e36c7c6e55e253">More...</a><br /></td></tr>
<tr class="separator:a88041e3840d115f8e6e36c7c6e55e253"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad24e3ac7ef55e4eff2968aa1f891fccc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#ad24e3ac7ef55e4eff2968aa1f891fccc">parseArgs</a> (<a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *parser)</td></tr>
<tr class="memdesc:ad24e3ac7ef55e4eff2968aa1f891fccc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function to parse the arguments given in an arbitrary parser.  <a href="#ad24e3ac7ef55e4eff2968aa1f891fccc">More...</a><br /></td></tr>
<tr class="separator:ad24e3ac7ef55e4eff2968aa1f891fccc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f1f4b09f681b090b60596c2ad6c8f78"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6f1f4b09f681b090b60596c2ad6c8f78"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a6f1f4b09f681b090b60596c2ad6c8f78">setRemoteIsSim</a> (bool remoteIsSim)</td></tr>
<tr class="memdesc:a6f1f4b09f681b090b60596c2ad6c8f78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Call for forcing the remote to be a sim (mostly for internal use) <br /></td></tr>
<tr class="separator:a6f1f4b09f681b090b60596c2ad6c8f78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e2a2b8ab0fcda4b5241d8b3cdcdcd10"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a5e2a2b8ab0fcda4b5241d8b3cdcdcd10">setupRobot</a> (void)</td></tr>
<tr class="memdesc:a5e2a2b8ab0fcda4b5241d8b3cdcdcd10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets up the given robot to be connected.  <a href="#a5e2a2b8ab0fcda4b5241d8b3cdcdcd10">More...</a><br /></td></tr>
<tr class="separator:a5e2a2b8ab0fcda4b5241d8b3cdcdcd10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae551ca233ff53eb0d1dcb2ae0eee022"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#aae551ca233ff53eb0d1dcb2ae0eee022">setupRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:aae551ca233ff53eb0d1dcb2ae0eee022"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets up an arbitrary robot to be connected.  <a href="#aae551ca233ff53eb0d1dcb2ae0eee022">More...</a><br /></td></tr>
<tr class="separator:aae551ca233ff53eb0d1dcb2ae0eee022"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a31557d4449f06cd2c4570b5d746aa4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7a31557d4449f06cd2c4570b5d746aa4"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html#a7a31557d4449f06cd2c4570b5d746aa4">~ArRobotConnector</a> (void)</td></tr>
<tr class="memdesc:a7a31557d4449f06cd2c4570b5d746aa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:ab6afccf3614f80dd1abd37246a090782"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab6afccf3614f80dd1abd37246a090782"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myAutoParseArgs</b></td></tr>
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<a class="el" href="classArBatteryConnector.html">ArBatteryConnector</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myBatteryConnector</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myConnectAllComponents</b></td></tr>
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<tr class="memitem:a7b15a95bba06fa4cf878e4caaff0c2d5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7b15a95bba06fa4cf878e4caaff0c2d5"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myHaveParsedArgs</b></td></tr>
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<tr class="memitem:a920c30d6f762cdc07ffc92fdae81eed0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a920c30d6f762cdc07ffc92fdae81eed0"></a>
<a class="el" href="classArConstFunctorC.html">ArConstFunctorC</a>&lt; <a class="el" href="classArRobotConnector.html">ArRobotConnector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myLogOptionsCB</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myOwnParser</b></td></tr>
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<tr class="memitem:ad6ae42940ef86321193b18727273c8d1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6ae42940ef86321193b18727273c8d1"></a>
<a class="el" href="classArRetFunctorC.html">ArRetFunctorC</a>&lt; bool, <a class="el" href="classArRobotConnector.html">ArRobotConnector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myParseArgsCB</b></td></tr>
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<a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myParser</b></td></tr>
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const char *&#160;</td><td class="memItemRight" valign="bottom"><b>myRemoteHost</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRemoteIsNotSim</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRemoteIsSim</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myRemoteRobotTcpPort</b></td></tr>
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<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotBaud</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotLogActions</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotLogMovementReceived</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotLogMovementSent</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotLogPacketsReceived</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotLogPacketsSent</b></td></tr>
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const char *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotPort</b></td></tr>
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<a class="el" href="classArSerialConnection.html">ArSerialConnection</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotSerConn</b></td></tr>
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<a class="el" href="classArSonarConnector.html">ArSonarConnector</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>mySonarConnector</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myUsingSim</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Connect to robot or simulator based on program command line parameters. </p>
<p><a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a> makes a robot connection either through a TCP port (for the simulator or for robots with Ethernet-serial bridge devices instead of onboard computers), or through a direct serial port connection. Normally, it first attempts a TCP connection on <em>localhost</em> port 8101, to use a simulator if running. If the simulator is not running, then it normally then connects using the serial port (the first serial port, COM1, by default). Various other connection parameters are configurable through command-line arguments.</p>
<p>When you create your <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a>, pass it command line parameters via either the argc and argv variables from main(), or pass it an <a class="el" href="classArArgumentBuilder.html" title="This class is to build arguments for things that require argc and argv. ">ArArgumentBuilder</a> or <a class="el" href="classArArgumentParser.html" title="Parse and store program command-line arguments for use by other ARIA classes. ">ArArgumentParser</a> object. (<a class="el" href="classArArgumentBuilder.html" title="This class is to build arguments for things that require argc and argv. ">ArArgumentBuilder</a> is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a> registers a callback with the global <a class="el" href="classAria.html" title="Contains global initialization, deinitialization and other global functions. ">Aria</a> class. Use <a class="el" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1" title="Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()) ...">Aria::parseArgs()</a> to parse all command line parameters to the program, and <a class="el" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42" title="Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB()) ...">Aria::logOptions()</a> to print out information about all registered command-line parameters.</p>
<p>The following command-line arguments are checked: </p><pre class="fragment">Options for ArRobotConnector (see docs for more details):

Robot options:
-remoteHost &lt;remoteHostNameOrIP&gt;
-rh &lt;remoteHostNameOrIP&gt;
-robotPort &lt;robotSerialPort&gt;
-rp &lt;robotSerialPort&gt;
-robotBaud &lt;baud&gt;
-rb &lt;baud&gt;
-remoteRobotTcpPort &lt;remoteRobotTcpPort&gt;
-rrtp &lt;remoteRobotTcpPort&gt;
-remoteIsSim
-ris
-remoteIsNotSim
-rins
-robotLogPacketsReceived
-rlpr
-robotLogPacketsSent
-rlps
-robotLogMovementReceived
-rlmr
-robotLogMovementSent
-rlms
-robotLogVelocitiesReceived
-rlvr
-robotLogActions
-rla
</pre><p>You can then prepare an <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object for connection (with various connection options configured via the command line parameters) and initiate the connection attempt by that object by calling <a class="el" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d" title="Sets up the robot then connects it. ">connectRobot()</a>.</p>
<p>After it's connected, you must then begin the robot processing cycle by calling <a class="el" href="group__easy.html#gac4425ceba89af5001dec83246190273a" title="Starts the instance to do processing in its own new thread. ">ArRobot::runAsync()</a> or <a class="el" href="group__easy.html#gaaade8cc11da585cbdcec45f6c8fbe4a6" title="Starts the instance to do processing in this thread. ">ArRobot::run()</a>.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArLaserConnector.html" title="Create laser interface objects (for any kind of laser supported by ARIA) and connect to lasers based ...">ArLaserConnector</a> </dd>
<dd>
<a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a></dd></dl>
<dl class="section since"><dt>Since</dt><dd>2.7.0 </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="actionExample_8cpp-example.html#_a15">actionExample.cpp</a>, <a class="el" href="actionGroupExample_8cpp-example.html#_a7">actionGroupExample.cpp</a>, <a class="el" href="actsColorFollowingExample_8cpp-example.html#_a23">actsColorFollowingExample.cpp</a>, <a class="el" href="auxSerialExample_8cpp-example.html#_a12">auxSerialExample.cpp</a>, <a class="el" href="cameraPTZExample_8cpp-example.html#_a4">cameraPTZExample.cpp</a>, <a class="el" href="demo_8cpp-example.html#_a10">demo.cpp</a>, <a class="el" href="dpptuExample_8cpp-example.html#_a22">dpptuExample.cpp</a>, <a class="el" href="gotoActionExample_8cpp-example.html#_a6">gotoActionExample.cpp</a>, <a class="el" href="gpsExample_8cpp-example.html#_a4">gpsExample.cpp</a>, <a class="el" href="gpsRobotTaskExample_8cpp-example.html#_a9">gpsRobotTaskExample.cpp</a>, <a class="el" href="gripperExample_8cpp-example.html#_a23">gripperExample.cpp</a>, <a class="el" href="gyroExample_8cpp-example.html#_a24">gyroExample.cpp</a>, <a class="el" href="imuExample_8cpp-example.html#_a10">imuExample.cpp</a>, <a class="el" href="joydriveActionExample_8cpp-example.html#_a14">joydriveActionExample.cpp</a>, <a class="el" href="laserConnect_8cpp-example.html#_a4">laserConnect.cpp</a>, <a class="el" href="lasers_8cpp-example.html#_a4">lasers.cpp</a>, <a class="el" href="lineFinderExample_8cpp-example.html#_a4">lineFinderExample.cpp</a>, <a class="el" href="moduleExample_8cpp-example.html#_a13">moduleExample.cpp</a>, <a class="el" href="mtxIO_8cpp-example.html#_a6">mtxIO.cpp</a>, <a class="el" href="mtxPowerControl_8cpp-example.html#_a11">mtxPowerControl.cpp</a>, <a class="el" href="mtxWheelLights_8cpp-example.html#_a4">mtxWheelLights.cpp</a>, <a class="el" href="robotConnectionCallbacks_8cpp-example.html#_a12">robotConnectionCallbacks.cpp</a>, <a class="el" href="robotSyncTaskExample_8cpp-example.html#_a6">robotSyncTaskExample.cpp</a>, <a class="el" href="seekurPower_8cpp-example.html#_a4">seekurPower.cpp</a>, <a class="el" href="simpleConnect_8cpp-example.html#_a4">simpleConnect.cpp</a>, <a class="el" href="simpleMotionCommands_8cpp-example.html#_a6">simpleMotionCommands.cpp</a>, <a class="el" href="teleopActionsExample_8cpp-example.html#_a4">teleopActionsExample.cpp</a>, <a class="el" href="triangleDriveToActionExample_8cpp-example.html#_a4">triangleDriveToActionExample.cpp</a>, and <a class="el" href="wander_8cpp-example.html#_a4">wander.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="paramtype"><a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *&#160;</td>
          <td class="paramname"><em>parser</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em>, </td>
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<p>Constructor that takes argument parser. </p>
<dl class="section warning"><dt>Warning</dt><dd>do not delete <em>parser</em> during the lifetime of this <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a>, which may need to access its contents later.</dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">parser</td><td>argument parser object (see <a class="el" href="classArRobotConnector.html#a88041e3840d115f8e6e36c7c6e55e253" title="Function to parse the arguments given in the constructor. ">parseArgs()</a> for list of command line arguments recognized) </td></tr>
    <tr><td class="paramname">robot</td><td><a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object to connect to the robot </td></tr>
    <tr><td class="paramname">autoParseArgs</td><td>if true (default), trigger argument parsing before connection if not already done. (normally, a program will call <a class="el" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1" title="Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()) ...">Aria::parseArgs()</a> to trigger argument parsing for all created objects. </td></tr>
    <tr><td class="paramname">connectAllComponents</td><td>if true (default), then connect to all robot components. If false, then your program may need to create additional connector objects for components such as sonar and battery. (MTX-series robots have separate connections to components such as battery, sonar, etc. Other robots do not require this.) If you wish to disconnect all components including the robot, call <a class="el" href="classArRobotConnector.html#af8b0be97cfabe32c64b6b82ee7000089" title="Disconnect from any robot components connected to. ">disconnectAll()</a>; Use <a class="el" href="classArRobot.html#abafe0172b9aa753a19e05a833b23fe6c" title="Disconnects from a robot. ">ArRobot::disconnect()</a> to disconnect from just the robot. </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Sets up the robot then connects it. </p>
<p>Prepares the given <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object for connection, then begins a blocking connection attempt.</p>
<p>If you wish to simply prepare the <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object, but not begin the connection, then use <a class="el" href="classArRobotConnector.html#a5e2a2b8ab0fcda4b5241d8b3cdcdcd10" title="Sets up the given robot to be connected. ">setupRobot()</a>. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="actionExample_8cpp-example.html#a16">actionExample.cpp</a>, <a class="el" href="actionGroupExample_8cpp-example.html#a8">actionGroupExample.cpp</a>, <a class="el" href="actsColorFollowingExample_8cpp-example.html#a26">actsColorFollowingExample.cpp</a>, <a class="el" href="auxSerialExample_8cpp-example.html#a13">auxSerialExample.cpp</a>, <a class="el" href="cameraPTZExample_8cpp-example.html#a6">cameraPTZExample.cpp</a>, <a class="el" href="demo_8cpp-example.html#a14">demo.cpp</a>, <a class="el" href="dpptuExample_8cpp-example.html#a23">dpptuExample.cpp</a>, <a class="el" href="gotoActionExample_8cpp-example.html#a8">gotoActionExample.cpp</a>, <a class="el" href="gpsExample_8cpp-example.html#a6">gpsExample.cpp</a>, <a class="el" href="gpsRobotTaskExample_8cpp-example.html#a12">gpsRobotTaskExample.cpp</a>, <a class="el" href="gripperExample_8cpp-example.html#a24">gripperExample.cpp</a>, <a class="el" href="gyroExample_8cpp-example.html#a31">gyroExample.cpp</a>, <a class="el" href="imuExample_8cpp-example.html#a11">imuExample.cpp</a>, <a class="el" href="joydriveActionExample_8cpp-example.html#a15">joydriveActionExample.cpp</a>, <a class="el" href="laserConnect_8cpp-example.html#a6">laserConnect.cpp</a>, <a class="el" href="lasers_8cpp-example.html#a6">lasers.cpp</a>, <a class="el" href="lineFinderExample_8cpp-example.html#a6">lineFinderExample.cpp</a>, <a class="el" href="moduleExample_8cpp-example.html#a14">moduleExample.cpp</a>, <a class="el" href="mtxIO_8cpp-example.html#a7">mtxIO.cpp</a>, <a class="el" href="mtxPowerControl_8cpp-example.html#a12">mtxPowerControl.cpp</a>, <a class="el" href="mtxWheelLights_8cpp-example.html#a5">mtxWheelLights.cpp</a>, <a class="el" href="robotConnectionCallbacks_8cpp-example.html#a13">robotConnectionCallbacks.cpp</a>, <a class="el" href="robotSyncTaskExample_8cpp-example.html#a7">robotSyncTaskExample.cpp</a>, <a class="el" href="seekurPower_8cpp-example.html#a5">seekurPower.cpp</a>, <a class="el" href="simpleConnect_8cpp-example.html#a5">simpleConnect.cpp</a>, <a class="el" href="simpleMotionCommands_8cpp-example.html#a7">simpleMotionCommands.cpp</a>, <a class="el" href="teleopActionsExample_8cpp-example.html#a5">teleopActionsExample.cpp</a>, <a class="el" href="triangleDriveToActionExample_8cpp-example.html#a6">triangleDriveToActionExample.cpp</a>, and <a class="el" href="wander_8cpp-example.html#a6">wander.cpp</a>.</dd>
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          <td>(</td>
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          <td class="paramname"><em>robot</em></td><td>)</td>
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<p>Sets up the robot then connects it. </p>
<p>Prepares the given <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object for connection, then begins a blocking connection attempt.</p>
<p>If you wish to simply prepare the <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object, but not begin the connection, then use <a class="el" href="classArRobotConnector.html#a5e2a2b8ab0fcda4b5241d8b3cdcdcd10" title="Sets up the given robot to be connected. ">setupRobot()</a>. </p>

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<p>Disconnect from any robot components connected to. </p>
<p>If connectAllComponents was not set to false in constructor, then connections to all robot components, and the robot itself, are disconnected. </p>

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<p>Log the options the simple connector has. </p>
<p>Normally called by <a class="el" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42" title="Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB()) ...">Aria::logOptions()</a>.</p>

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<p>Function to parse the arguments given in the constructor. </p>
<p>Parse command line arguments using the <a class="el" href="classArArgumentParser.html" title="Parse and store program command-line arguments for use by other ARIA classes. ">ArArgumentParser</a> given in the <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a> constructor.</p>
<p>See <a class="el" href="classArRobotConnector.html#ad24e3ac7ef55e4eff2968aa1f891fccc" title="Function to parse the arguments given in an arbitrary parser. ">parseArgs(ArArgumentParser*)</a> for details about argument parsing.</p>
<dl class="section return"><dt>Returns</dt><dd>true if the arguments were parsed successfully false if not </dd></dl>

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<p>Function to parse the arguments given in an arbitrary parser. </p>
<p>Parse command line arguments for <a class="el" href="classArRobotConnector.html" title="Connect to robot or simulator based on program command line parameters. ">ArRobotConnector</a> held by the given <a class="el" href="classArArgumentParser.html" title="Parse and store program command-line arguments for use by other ARIA classes. ">ArArgumentParser</a>.</p>
<p>Normally called via global <a class="el" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1" title="Parses the arguments for the program (calls all the callbacks added with addParseArgsCB()) ...">Aria::parseArgs()</a> method.</p>
<dl class="section return"><dt>Returns</dt><dd>true if the arguments were parsed successfully false if not</dd></dl>
<p>The following arguments are used for the robot connection:</p>
<dl>
<dt><code>-robotPort</code> <em>port</em> </dt>
<dd></dd>
<dt><code>-rp</code> <em>port</em> </dt>
<dd><p class="startdd">Use the given serial port device name for a serial port connection (e.g. <code>COM1</code>, or <code>/dev/ttyS0</code> if on Linux.) The default is the first serial port, or COM1, which is the typical Pioneer setup. </p>
<p class="enddd"></p>
</dd>
<dt><code>-remoteHost</code> <em>hostname</em> </dt>
<dd></dd>
<dt><code>-rh</code> <em>hostname</em> </dt>
<dd><p class="startdd">Use a TCP connection to a remote computer with the given network host name instead of a serial port connection</p>
<p class="enddd"></p>
</dd>
<dt><code>-remoteRobotTcpPort</code> <em>port</em> </dt>
<dd></dd>
<dt><code>-rrtp</code> <em>port</em> </dt>
<dd><p class="startdd">Use the given TCP port number if connecting to a remote robot using TCP due to <code>-remoteHost</code> having been given.</p>
<p class="enddd"></p>
</dd>
<dt><code>-remoteIsSim</code> </dt>
<dd></dd>
<dt><code>-ris</code> </dt>
<dd><p class="startdd">The remote TCP robot given by <code>-remoteHost</code> or <code>-rh</code> is actually a simulator. Use any alternative behavior intended for the simulator (e.g. tell the laser device object to request laser data from the simulator rather than trying to connect to a real laser device on the local computer)</p>
<p class="enddd"></p>
</dd>
<dt><code>-remoteIsNotSim</code> </dt>
<dd></dd>
<dt><code>-rins</code> </dt>
<dd><p class="startdd">The remote TCP robot given by <code>-remoteHost</code> or <code>-rh</code> (or their defaults) is actually a simulator but DO NOT treat it like one. Use any the default robot behavior, instead of the simulator behavior (ie open a real laser device for the laser type given and try and talk to it over it's actual local port or remote port if given)</p>
<p class="enddd"></p>
</dd>
<dt><code>-robotBaud</code> <em>baudrate</em> </dt>
<dd></dd>
<dt><code>-rb</code> <em>baudrate</em> </dt>
<dd>Use the given baud rate when connecting over a serial port, instead of trying to use the normal rate. </dd>
</dl>

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          <td class="memname">bool ArRobotConnector::setupRobot </td>
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<p>Sets up the given robot to be connected. </p>
<p>This method is normally used internally by <a class="el" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d" title="Sets up the robot then connects it. ">connectRobot()</a>, but you may use it if you wish.</p>
<p>If -remoteHost was given, then open that TCP port. If it was not given, then try to open a TCP port to the simulator on localhost. If that fails, then use a local serial port connection. Sets the given <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a>'s device connection pointer to this object. Sets up internal settings determined by command line arguments such as serial port and baud rate, etc.</p>
<p>After calling this function (and it returns true), then you may connect <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> to the robot using <a class="el" href="classArRobot.html#a1a9e2605e3ea568d697b74992c3eef1f" title="Connects to a robot, not returning until connection made or failed. ">ArRobot::blockingConnect()</a> (or similar).</p>
<dl class="section return"><dt>Returns</dt><dd>false if -remoteHost was given and there was an error connecting to the remote host, true otherwise. </dd></dl>

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<p>Sets up an arbitrary robot to be connected. </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000005">Deprecated:</a></b></dt><dd></dd></dl>
<p>This method is normally used internally by <a class="el" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d" title="Sets up the robot then connects it. ">connectRobot()</a>, but you may use it if you wish.</p>
<p>If -remoteHost was given, then open that TCP port. If it was not given, then try to open a TCP port to the simulator on localhost. If that fails, then use a local serial port connection. Sets the given <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a>'s device connection pointer to this object. Sets up internal settings determined by command line arguments such as serial port and baud rate, etc.</p>
<p>After calling this function (and it returns true), then you may connect <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> to the robot using <a class="el" href="classArRobot.html#a1a9e2605e3ea568d697b74992c3eef1f" title="Connects to a robot, not returning until connection made or failed. ">ArRobot::blockingConnect()</a> (or similar).</p>
<dl class="section return"><dt>Returns</dt><dd>false if -remoteHost was given and there was an error connecting to the remote host, true otherwise. </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArRobotConnector.h</li>
<li>ArRobotConnector.cpp</li>
</ul>
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